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This article describes the software architecture of an autonomous, interactive tour-guide robot. It presents a modular and distributed software architecture, which integrates local-ization, mapping, collision avoidance, planning, and various modules concerned with user interaction and Web-based telepresence. At its heart, the software approach relies on(More)
his discovery does not work. His helio-centric view allowed him to think that the sun, so near to the center of the planetary system, and so large, must somehow cause the planets to move as they do. In addition to this strong conjecture , he also had to generalize his findings for Mars to all planets by assuming that the same physical conditions could be(More)
In a seminal paper, Lin and Reiter introduced the notion of progression for basic action theories in the situation calculus. Unfortunately, progression is not first-order definable in general. Recently, Vas-sos, Lakemeyer, and Levesque showed that in case actions have only local effects, progression is first-order representable. However, they could show(More)
This paper describes the software architecture of an autonomous tour-guide/tutor robot. This robot was recently deployed in the " Deutsches Museum Bonn, " were it guided hundreds of visitors through the museum during a six-day deployment period. The robot's control software integrates low-level probabilistic reasoning with high-level problem solving(More)
SNet is a prototype environment supporting the representation and dynamic evaluation of designs for social networks comprising human, hardware, and software agents. The environment employs metadata management technology to integrate an extended version of the i* formalism for static network modeling with the ConGolog logic-based activity simulator. The(More)
Levesque introduced a notion of " only knowing " , with the goal of capturing certain types of nonmonotonic reasoning. Levesque's logic dealt with only the case of a single agent. Recently, both Halpern and Lakemeyer independently attempted to extend Levesque's logic to the multi-agent case. Although there are a number of similarities in their approaches,(More)
In previous work, we proposed the prototype environment SNet for the representation and dynamic evaluation of agent-based designs for inter-organizational networks. A key feature of SNet is the automatic translation of extended i* models into the action language ConGolog. In order to run realistic simulations the resulting agents are deliberative in that(More)